Create README.md
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dataset/aloha-agilex/README.md
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## Dataset Description
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This sub-dataset contains 49 robotic manipulation tasks collected using `aloha-agilex` robotic arm in RoboTwin 2.0 simulation environment. Each task includes 100 clean data（Aloha-AgileX）and 400 domain randomized data（Aloha-AgileX_domain_randomized）.
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## Task config
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### Aloha-AgileX
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```
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render_freq: 0
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episode_num: 100
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use_seed: false
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save_freq: 15
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embodiment:
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- aloha-agilex
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language_num: 100
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domain_randomization:
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random_background: false
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cluttered_table: false
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clean_background_rate: 0
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random_head_camera_dis: 0
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random_table_height: 0
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random_light: false
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crazy_random_light_rate: 0
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random_embodiment: false
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camera:
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head_camera_type: D435
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wrist_camera_type: D435
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collect_head_camera: true
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collect_wrist_camera: true
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data_type:
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rgb: true
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third_view: true
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depth: false
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pointcloud: false
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endpose: false
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qpos: true
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mesh_segmentation: false
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actor_segmentation: false
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pcd_down_sample_num: 1024
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dual_arm: true
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pcd_crop: true
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save_path: /mnt/data2/RoboTwin_open_source_data
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clear_cache_freq: 5
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collect_data: true
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eval_video_log: true
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```
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### Aloha-AgileX_domain_randomized
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```
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## Aloha-AgileX_domain_randomized
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render_freq: 0
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episode_num: 400
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use_seed: false
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save_freq: 15
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embodiment:
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- aloha-agilex
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language_num: 100
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domain_randomization:
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random_background: true
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cluttered_table: true
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clean_background_rate: 0
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random_head_camera_dis: 0.01
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random_table_height: 0.03
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random_light: true
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crazy_random_light_rate: 0.02
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random_embodiment: false
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camera:
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head_camera_type: D435
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wrist_camera_type: D435
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collect_head_camera: true
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collect_wrist_camera: true
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data_type:
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rgb: true
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third_view: true
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depth: false
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pointcloud: false
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endpose: false
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qpos: true
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mesh_segmentation: false
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actor_segmentation: false
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pcd_down_sample_num: 1024
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dual_arm: true
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pcd_crop: true
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save_path: /mnt/data2/RoboTwin_open_source_data
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clear_cache_freq: 5
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collect_data: true
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eval_video_log: true
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```
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